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A History of Maritime Radio- Navigation Positioning Systems Used in Poland

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A History of Maritime Radio- Navigation Positioning Systems Used in Poland THE JOURNAL OF NAVIGATION (2016), 69, 468–480. © The Royal Institute of Navigation 2016 This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited. doi:10.1017/S0373463315000879 A History of Maritime Radio- Navigation Positioning Systems used in Poland Cezary Specht, Adam Weintrit and Mariusz Specht (Gdynia Maritime University, Gdynia, Poland) (E-mail: [email protected]) This paper describes the genesis, the principle of operation and characteristics of selected radio-navigation positioning systems, which in addition to terrestrial methods formed a system of navigational marking constituting the primary method for determining the location in the sea areas of Poland in the years 1948–2000, and sometimes even later. The major ones are: maritime circular radiobeacons (RC), Decca-Navigator System (DNS) and Differential GPS (DGPS), as well as solutions forgotten today: AD-2 and SYLEDIS. In this paper, due to its limited volume, the authors have omitted the description of the solutions used by the Polish Navy (RYM, BRAS, JEMIOŁUSZKA, TSIKADA) and the global or continental systems (TRANSIT, GPS, GLONASS, OMEGA, EGNOS, LORAN, CONSOL) - described widely in world literature. KEYWORDS 1. Radio-Navigation. 2. Positioning systems. 3. Decca-Navigator System (DNS). 4. Maritime circular radiobeacons (RC). 5. AD-2 system. 6. SYLEDIS. 7. Differential GPS (DGPS). Submitted: 21 June 2015. Accepted: 30 October 2015. First published online: 11 January 2016. 1. INTRODUCTION. Navigation is the process of object motion control (Specht, 2007), thus determination of position is its essence. One type of navigation is maritime navigation, which for several thousand years has used terrestrial, and for dozens of years radio-navigation systems, including methods of determining position by satellite. It is believed that the beginning of the development of radio-navigation is the discovery of radio waves and the invention of the radio in 1895 by Alexander Popov (Urbański and Posiła, 1966), which resulted in the emergence and development of equipment and radio-navigation systems. In 1897 Guglielmo Marconi established radio contact for the first time with a ship located approximately 20 km away, and four years later he sent a message across the Atlantic (from England to Canada) (Hofmann-Wellenhof et al., 2003). The first radio-navigation systems were non-directional (circular) beacons ren- dering it possible to determine radio location by means of a (physically or electronic- ally) rotating antenna. They were constructed in around 1897 in England (Urbański Downloaded from https://www.cambridge.org/core. IP address: 170.106.40.139, on 24 Sep 2021 at 15:57:26, subject to the Cambridge Core terms of use, available at https://www.cambridge.org/core/terms. https://doi.org/10.1017/S0373463315000879 NO. 3 A HISTORY OF MARITIME RADIO-NAVIGATION IN POLISH WATERS 469 and Posiła, 1966) and used for navigation at sea in 1921 (Januszewski, 2009), although the first radio ship-finding attempts took place in 1903. During World War II solutions were developed enabling the measurement of: radio location, distances, or their differences. These were the following systems: GEE (United Kingdom, 1942–1970, accuracy of 0·15–1·6 km); CONSOL (Germany, 1940–1991, radio location accuracy of 0·6–7·5°); LORAN A (USA, 1943–2000, accur- acy of 2–3 km); LORAN C (USA, 1957-today, accuracy of 0·25–0·46 km) (Groves, 2008; Proc, 2014), so that it was possible to draw items on a chart directly. The inven- tion of the transistor in 1948 and its versatile application in radio-navigation in the 1970s led to the emergence of the first radio-navigation systems with a global reach, such as: OMEGA (1971–1997, accuracy of 2–4 km); TRANSIT (1964–1996, accuracy of 0·2–0·4 km); TSIKADA (1978–2003, accuracy of 0·1 km) (Groves, 2008; Januszewski, 2009). Subsequent years brought solutions from satellite positioning (GPS, GLONASS, BEIDOU, GALILEO) that determined the shape of modern radio-navigation in the world. Throughout the last 100 years radio-navigation systems have evolved from support systems for determining the radio direction, through measuring the distances or their differences enabling accurate positioning within a few hundred metres, to the precise positioning solutions of Global Navigation Satellite Systems (GNSS) (Nitner and Specht, 2012). In Poland the beginnings of radio-navigation date back to the 1950s when the network of non-directional coast RCs was set up, covering the Polish economic zone. This radiobeacon arrangement provided the possibility to determine the position (to deliver at least two radio measurements simultaneously) at any place. The complex process of calculation and application of the results on the map was significantly improved after the installation (in 1970) off the Swedish coast of the 0A chain of the Decca Navigator System (DNS) (Proc, 2014). It became the primary positioning system for ships (Mark 5 series receivers) and navy ships (Russian Pirs receivers), until the beginning of the 1990s, when the first Global Positioning System (GPS) recei- vers appeared. Particularly interesting from a technical point of view, local area radio systems op- erating on the Polish coast were: the phase location system AD-2 - developed in the 1970s on the waters of the Bay of Gdańsk intended for positioning tankers entering the North Port (Winogradow, 1978) and SYLEDIS - designed for piloting and hydrog- raphy of the port complex of Szczecin - Świnoujscié (Kopacz et al., 2001). This paper describes those various systems while using a uniform criterion space: a general de- scription, architecture and principle of operation, positioning accuracy, and use of a system in the sea basin of the Republic of Poland (RP). 2. MARITIME CIRCULAR RADIOBEACONS (RC) 2.1. General description. Maritime Circular Radiobeacons (RC) were the first method of positioning using radio waves, which provides the possibility of implement- ing positioning systems with a range of up to 200 NM. The first non-directional RC for maritime navigation was set up in New Jersey, USA in 1921 (Januszewski, 2009), start- ing as early as the 1920s, with the installation of radio direction finders on ships for measuring the radio bearing in the direction of the radiobeacon commenced (Urbański and Posiła, 1966). Radiobeacons were usually located near lighthouses or installed on beacons, light vessels or ocean weather ships (Hydrographic Office of Downloaded from https://www.cambridge.org/core. IP address: 170.106.40.139, on 24 Sep 2021 at 15:57:26, subject to the Cambridge Core terms of use, available at https://www.cambridge.org/core/terms. https://doi.org/10.1017/S0373463315000879 470 CEZARY SPECHT AND OTHERS VOL. 69 Figure 1. 1-minute program of maritime RC applied before 1 April 1992 (Januszewski, 1997). Figure 2. 1-minute program of maritime RC applied from 1 April 1992 (Januszewski, 1997). the Polish Navy, 1971). In 1991 there were approximately 1300 maritime RC that worked within the band 283·5–315 kHz and had a range of 20 to 200 NM (International Telecommunication Union, 1986; Januszewski, 1997). At the end of the twentieth century radio direction finding was abandoned as a method of determin- ing the position of vessels as it has rather low accuracy. Part of the existing infrastruc- ture was used for the transmission of Differential GPS (DGPS) corrections. For example the radiobeacons in Dziwnów and Rozewie currently transmit DGPS correc- tions (Dziewicki and Specht, 1996). 2.2. Architecture and principle of operation. Radiobeacons emitted non-direc- tional signals, which were then picked up by the directional receiving antenna mounted on the vessel (Jagodziński, 1961). In this way it was possible to determine the vessel observed position that in terrestrial navigation is the intersection of at least two position lines. Such lines could be a radio bearing, i.e. the sum of the actual heading of the ship and the radio course angle included between the axis of sym- metry of the fore part of the vessel and the direction from which the radio wave emitted by a given broadcasting radio station reaches the direction-finding antenna. In order to facilitate and speed up the bearing performance, the beacons were often grouped in a so-called “chain”. These included from two to six broadcasting radio stations and worked on the same carrier frequencies. Each of them had a separate and distinct modulation frequency and a separate hallmark also referred to as a beacon code (Łucznik and Sochacki, 1981). RCs broadcast at regular intervals signals corresponding to the so-called “program” of radiobeacons. Using Morse code they emitted an identification signal and a con- tinuous signal. The former allowed the user to identify the radiobeacon code, while the latter allowed them to determine bearing. Until 1992 this program was identical for all radiobeacons and can be seen in Figure 1. Because the then radio direction finding stations could not correctly determine radio direction in all circumstances, it was decided to modify the maritime radiobeacons program so that the duration of a continuous signal was extended, and the duration of identification signals was reduced (Figure 2). Downloaded from https://www.cambridge.org/core. IP address: 170.106.40.139, on 24 Sep 2021 at 15:57:26, subject to the Cambridge Core terms of use, available at https://www.cambridge.org/core/terms. https://doi.org/10.1017/S0373463315000879 NO. 3 A HISTORY OF MARITIME RADIO-NAVIGATION IN POLISH WATERS 471 Figure 3. Coverage of individual chains (Hydrographic Office of the Polish Navy, 1971; Łysejko, 2012). 2.3. Positioning accuracy. The error with which the observed position of the vessel was found depended on: the accuracy of the radio bearing, the angle of intersec- tion of these radio bearings, and the distances between the intersection of these radio direction findings from individual radiobeacons (Górski et al., 1990; Weintrit and Specht, 2014).
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